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      EtherCAT 协议(0)
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        <h1 id="1-介绍"><a href="#1-介绍" class="headerlink" title="1. 介绍"></a>1. 介绍</h1><p>EtherCAT（Ethernet for Control Automation Technology）是一种高性能的实时工业以太网通信协议，由德国Beckhoff自动化公司于2003年开发，并在2014年成为国际标准（IEC 61158-12）。它专为工业自动化和控制领域设计，旨在实现高实时性、高效率和低成本的通信</p>
<p>EtherCAT的参考资料如下：</p>
<ul>
<li><a target="_blank" rel="noopener" href="https://download.beckhoff.com/download/document/io/ethercat-development-products/ethercat_esc_datasheet_sec1_technology_2i3.pdf">EtherCAT Slave Controller Hardware Data Sheet Section I-Technology</a></li>
<li><a target="_blank" rel="noopener" href="https://download.beckhoff.com/download/document/io/ethercat-development-products/ethercat_esc_datasheet_sec2_registers_3i0.pdf">EtherCAT Slave Controller Hardware Data Sheet Section II-Register Descritpion</a></li>
<li><a target="_blank" rel="noopener" href="https://download.beckhoff.com/download/document/io/ethercat-development-products/ethercat_et1100_datasheet_v2i1.pdf">EtherCAT Slave Controller Hardware Data Sheet Section III-Hardware Description of ET1100</a></li>
<li><a target="_blank" rel="noopener" href="https://download.beckhoff.com/download/document/io/ethercat-development-products/ethercat_et1200_datasheet_v2i2.pdf">EtherCAT Slave Controller Hardware Data Sheet Section III-Hardware Description of ET1200</a></li>
</ul>
<p>此外，EtherCAT技术协会 ETG(EtherCAT Technology Group) 推出了相应的文档定义了EtherCAT标准：</p>
<ul>
<li>ETG.1000.1: 概述</li>
<li>ETG.1000.2: 物理层服务定义和协议规范</li>
<li>ETG.1000.3：数据链路层服务定义</li>
<li>ETG.1000.4: 数据链路层协议规范</li>
<li>ETG.1000.5: 应用层服务定义</li>
<li>ETG.1000.6: 应用层协议规范</li>
</ul>
<h1 id="2-EtherCAT-协议"><a href="#2-EtherCAT-协议" class="headerlink" title="2.EtherCAT 协议"></a>2.EtherCAT 协议</h1><p>EtherCAT 是一种基于以太网的现场总线技术，使用了IEEE 802.3以太网标准数据帧，并将EtherType设置为0x88A4用于区分其他以太网数据帧，因此，EtherCAT 可以跟其他以太网协议并行运行。</p>
<p>包含EtherCAT数据的以太网数据帧格式如下图所示</p>
<p><img src="/2025/03/12/Protocol-Series-EtherCAT-0/Figure1_EthernetFrameWithEtherCATData.png" alt="Figure 1 Ethernet Frame with EtherHeader"></p>
<p>EtherCAT数据帧以2字节的帧头开始，EtherCAT数据帧头格式如下表所示：</p>
<table>
<thead>
<tr>
<th align="left">域</th>
<th align="left">数据类型</th>
<th align="left">数值&#x2F;描述</th>
</tr>
</thead>
<tbody><tr>
<td align="left">Length</td>
<td align="left">11 bit</td>
<td align="left">EtherCAT 数据帧的长度(FCS 除外)</td>
</tr>
<tr>
<td align="left">Reserved</td>
<td align="left">1 bit</td>
<td align="left">保留，0</td>
</tr>
<tr>
<td align="left">Type</td>
<td align="left">4 bit</td>
<td align="left">协议类型，从站只支持Type&#x3D;1的EtherCAT命令</td>
</tr>
</tbody></table>
<h1 id="3-EtherCAT-数据帧"><a href="#3-EtherCAT-数据帧" class="headerlink" title="3.EtherCAT 数据帧"></a>3.EtherCAT 数据帧</h1>
      
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